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uzh-rpg / rpg_trajectory_evaluation

Toolbox for quantitative trajectory evaluation of VO/VIO
MIT License
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how this tools do the trajectory alignment? #2

Open ghost opened 6 years ago

zhangzichao commented 5 years ago

Hi, you can specify different alignment types and frames to use https://github.com/uzh-rpg/rpg_trajectory_evaluation#evaluation-parameters

Specifically, it uses Umeyama's method as implemented here https://github.com/uzh-rpg/rpg_trajectory_evaluation/blob/master/src/rpg_trajectory_evaluation/align_trajectory.py

You can check the paper for details: http://rpg.ifi.uzh.ch/docs/IROS18_Zhang.pdf

TengFeiHan0 commented 5 years ago

@zhangzichao I got a keyframetrajectory generated by VINS-mono, Now I would like to transform the format to fit this tools needed. when executing stamep_state_est.py -h, the question is how can I get a file that includesid_stamp. I am new to this tool. any clues would be appreciated.

zhangzichao commented 5 years ago

Hi, I am not sure what format you have exactly...

But it seems that the output you have is some pose file that does not have a timestamp? If this is the case, the pose file should have at least some information that tells you which image each pose corresponds to, which you can use to get the timestamp. This depends on specific output format/datasets of course.

The script you are using assumes that the poses are marked by id (e.g., the sequential number of the image) and replaces the id with timestamp in id_stamp to get the desired format of the toolbox. The file id_stamp provides the correspondences between id and timestamp. How to get the id_stamp is again dataset dependent, and you might need to write your own script for that.

TengFeiHan0 commented 5 years ago

@zhangzichao Thank you for your comprehensive reply. I have already fixed this problem. Several days ago, I didn't understand what files should be provided, if trying to run that script, at first glance. Anyway, Thank you for your patience.